In this paper, a quantitative ground risk assessment mechanism is proposed in which urban ground features are extracted based on high-resolution data in a satellite image when unmanned aerial vehicles (UAVs) operate in urban areas. Ground risk distributions are estimated and a risk map is constructed with a multi-layer method considering the comprehensive risk imposed by UAV operations. The urban ground feature extraction is first implemented by employing a K-Means clustering method to an actual satellite image. Five main categories of the ground features are classified, each of which is composed of several sub-categories. Three more layers are then obtained, which are a population density layer, a sheltering factor layer, and a ground obstacle layer. As a result, a three-dimensional (3D) risk map is formed with a high resolution of 1 m × 1 m × 5 m. For each unit in this risk map, three kinds of risk imposed by UAV operations are taken into account and calculated, which include the risk to pedestrians, risk to ground vehicles, and risk to ground properties. This paper also develops a method of the resolution conversion to accommodate different UAV operation requirements. Case study results indicate that the risk levels between the fifth and tenth layers of the generated 3D risk map are relatively low, making these altitudes quite suitable for UAV operations.

Wireless sensor networks (WSNs) are applied in many fields, among which node localization is one of the most important parts. The Distance Vector-Hop (DV-Hop) algorithm is the most widely used range-free localization algorithm, but its localization accuracy is not high enough. In this paper, to solve this problem, a hybrid localization algorithm for an adaptive strategy-based distance vector-hop and improved sparrow search is proposed (HADSS). First, an adaptive hop count strategy is designed to refine the hop count between all sensor nodes, using a hop count correction factor for secondary correction. Compared with the simple method of using multiple communication radii, this mechanism can refine the hop counts between nodes and reduce the error, as well as the communication overhead. Second, the average hop distance of the anchor nodes is calculated using the mean square error criterion. Then, the average hop distance obtained from the unknown nodes is corrected according to a combination of the anchor node trust degree and the weighting method. Compared with the single weighting method, both the global information about the network and the local information about each anchor node are taken into account, which reduces the average hop distance errors. Simulation experiments are conducted to verify the localization performance of the proposed HADSS algorithm by considering the normalized localization error. The simulation results show that the accuracy of the proposed HADSS algorithm is much higher than that of five existing methods.

Rate-splitting multiple access (RSMA) has recently received attention due to its benefits in both spectral and energy efficiencies. In this paper, we propose a hybrid RSMA-time-division multiple access (TDMA) scheme for a mobile edge computing (MEC) system, where two edge users need to offload their task data to a MEC server. In the proposed scheme, the offloading time is divided into two time phases. Specifically, we design a cognitive radio (CR)-inspired RSMA scheme, in which two users, namely the primary user and secondary user, offload their task data to the MEC server in the first time phase, while only a single user can offload task data in the second time phase. With the aim of minimizing the overall offloading delay, we formulate the offloading delay minimization problem subject to the transmit power and total energy constraints. We transform the original fractional programming non-convex problem to a convex one by using the Dinkelbach transform and propose Dinkelbach and Newton iterative algorithms to determine the optimal transmit power allocation. Specifically, we establish the optimization criteria for the three offloading schemes and derive the corresponding closed-form expressions for the optimal power allocation. Compared to the existing offloading schemes, the numerical results show that the proposed hybrid RSMA-TDMA scheme in scenarios where having a limited energy budget is superior in offloading delay compared to other offloading schemes and the sum offloading delay tends to a constant with the increase in the energy budget.

In this study, an urban airspace assessment mechanism is proposed and validated using the actual urban building data, offering a systematic approach to airspace selection for unmanned aerial vehicle (UAV) operations. Two metrics are involved to assess the urban airspace accurately, which are the airspace availability and risk to ground population. The former is measured by analyzing the connectivity of the urban airspace which particularly emphasizes the impact of urban features like buildings and obstacles. The latter is quantized by using a previously proposed risk estimation model, with which an urban risk map can be generated. Quadrant analysis and Pareto ranking are then employed to evaluate the available airspace for UAVs. Quadrant analysis maps the urban airspace availability and risk to ground population onto a two-dimensional space. Additionally, Pareto ranking determines a set of Pareto-optimal solutions wherein no objective can be improved without compromising at least one other objective. The topology of urban airspace could be constructed by using the top 50% of grids ranked by Pareto ranking based on the actual building data. A case study is conducted in a densely populated urban area in Changqing District, Jinan, Shandong Province, China. The connectivity of the airspace topology is verified by employing the A-star algorithm to generate a feasible path for UAVs.

With the rapid development of unmanned aerial vehicles (UAVs), their applications in urban firefighting, rescue, and military missions continue to expand. However, maintaining formation stability and achieving reliable obstacle avoidance in complex low-altitude urban environments remain challenging. To address this issue, this paper proposes an Adaptive Cooperative Potential Field (ACPF) algorithm for UAV formation control. The algorithm is built on the artificial potential field framework. It includes three components. First, a cooperative control mechanism combines formation force and neighbor coordination force to improve spatial consistency. Second, a dynamic flight weight adjustment mechanism adaptively balances attractive, repulsive, and formation forces. Third, a 3D obstacle avoidance and altitude constraint strategy ensures safe flight by incorporating terrain information and safety margins. Simulation results show that ACPF outperforms APF, VS-DWA, and CLF-CBF-QP in formation maintenance, obstacle avoidance, and trajectory efficiency. For the regular pentagon formation, the total path length is reduced by 5.4% on average, and the convergence time is shortened by 63 s. For the rhombus formation and V-shaped formation, the path-length reductions reach 7.2% and 7.4%, while the convergence time decreases by 53 s and 66 s, respectively. Statistical experiments and parameter sensitivity analyses further demonstrate the robustness and reliability of the proposed algorithm. These results demonstrate the effectiveness of ACPF for UAV formation control in complex urban environments.